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<h1>digitalout.c</h1><a href="digitalout_8c.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/*********************************************************************************</span>
<a name="l00002"></a>00002 <span class="comment"></span>
<a name="l00003"></a>00003 <span class="comment"> Copyright 2006 MakingThings</span>
<a name="l00004"></a>00004 <span class="comment"></span>
<a name="l00005"></a>00005 <span class="comment"> Licensed under the Apache License, </span>
<a name="l00006"></a>00006 <span class="comment"> Version 2.0 (the "License"); you may not use this file except in compliance </span>
<a name="l00007"></a>00007 <span class="comment"> with the License. You may obtain a copy of the License at</span>
<a name="l00008"></a>00008 <span class="comment"></span>
<a name="l00009"></a>00009 <span class="comment"> http://www.apache.org/licenses/LICENSE-2.0 </span>
<a name="l00010"></a>00010 <span class="comment"> </span>
<a name="l00011"></a>00011 <span class="comment"> Unless required by applicable law or agreed to in writing, software distributed</span>
<a name="l00012"></a>00012 <span class="comment"> under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR</span>
<a name="l00013"></a>00013 <span class="comment"> CONDITIONS OF ANY KIND, either express or implied. See the License for</span>
<a name="l00014"></a>00014 <span class="comment"> the specific language governing permissions and limitations under the License.</span>
<a name="l00015"></a>00015 <span class="comment"></span>
<a name="l00016"></a>00016 <span class="comment">*********************************************************************************/</span>
<a name="l00017"></a>00017 
<a name="l00018"></a>00018 <span class="comment">// MakingThings - Make Controller Kit - 2006</span>
<a name="l00019"></a>00019 <span class="comment"></span>
<a name="l00020"></a>00020 <span class="comment">/** \file digitalout.c  </span>
<a name="l00021"></a>00021 <span class="comment">  Library of functions for the Make Application Board's Digital Outputs.</span>
<a name="l00022"></a>00022 <span class="comment">*/</span>
<a name="l00023"></a>00023 
<a name="l00024"></a>00024 <span class="preprocessor">#include "io.h"</span>
<a name="l00025"></a>00025 <span class="preprocessor">#include "digitalout.h"</span>
<a name="l00026"></a>00026 <span class="preprocessor">#include "config.h"</span>
<a name="l00027"></a>00027 
<a name="l00028"></a>00028 <span class="preprocessor">#include "AT91SAM7X256.h"</span>
<a name="l00029"></a>00029 
<a name="l00030"></a>00030 <span class="preprocessor">#define DIGITALOUT_COUNT 8 </span>
<a name="l00031"></a>00031 <span class="preprocessor"></span>
<a name="l00032"></a>00032 <span class="preprocessor">#if ( APPBOARD_VERSION == 50 )</span>
<a name="l00033"></a>00033 <span class="preprocessor"></span><span class="preprocessor">  #define DIGITALOUT_0_IO IO_PA02</span>
<a name="l00034"></a>00034 <span class="preprocessor"></span><span class="preprocessor">  #define DIGITALOUT_1_IO IO_PA02</span>
<a name="l00035"></a>00035 <span class="preprocessor"></span><span class="preprocessor">  #define DIGITALOUT_2_IO IO_PA02</span>
<a name="l00036"></a>00036 <span class="preprocessor"></span><span class="preprocessor">  #define DIGITALOUT_3_IO IO_PA02</span>
<a name="l00037"></a>00037 <span class="preprocessor"></span><span class="preprocessor">  #define DIGITALOUT_4_IO IO_PA02</span>
<a name="l00038"></a>00038 <span class="preprocessor"></span><span class="preprocessor">  #define DIGITALOUT_5_IO IO_PA02</span>
<a name="l00039"></a>00039 <span class="preprocessor"></span><span class="preprocessor">  #define DIGITALOUT_6_IO IO_PA02</span>
<a name="l00040"></a>00040 <span class="preprocessor"></span><span class="preprocessor">  #define DIGITALOUT_7_IO IO_PA02</span>
<a name="l00041"></a>00041 <span class="preprocessor"></span><span class="preprocessor">  #define DIGITALOUT_01_ENABLE IO_PA02</span>
<a name="l00042"></a>00042 <span class="preprocessor"></span><span class="preprocessor">  #define DIGITALOUT_23_ENABLE IO_PA02</span>
<a name="l00043"></a>00043 <span class="preprocessor"></span><span class="preprocessor">  #define DIGITALOUT_45_ENABLE IO_PA02</span>
<a name="l00044"></a>00044 <span class="preprocessor"></span><span class="preprocessor">  #define DIGITALOUT_67_ENABLE IO_PA02</span>
<a name="l00045"></a>00045 <span class="preprocessor"></span><span class="preprocessor">#endif</span>
<a name="l00046"></a>00046 <span class="preprocessor"></span>
<a name="l00047"></a>00047 <span class="preprocessor">#if ( APPBOARD_VERSION == 90 )</span>
<a name="l00048"></a>00048 <span class="preprocessor"></span><span class="preprocessor">  #define DIGITALOUT_0_IO IO_PB23</span>
<a name="l00049"></a>00049 <span class="preprocessor"></span><span class="preprocessor">  #define DIGITALOUT_1_IO IO_PA26</span>
<a name="l00050"></a>00050 <span class="preprocessor"></span><span class="preprocessor">  #define DIGITALOUT_2_IO IO_PA25</span>
<a name="l00051"></a>00051 <span class="preprocessor"></span><span class="preprocessor">  #define DIGITALOUT_3_IO IO_PB25</span>
<a name="l00052"></a>00052 <span class="preprocessor"></span><span class="preprocessor">  #define DIGITALOUT_4_IO IO_PA02</span>
<a name="l00053"></a>00053 <span class="preprocessor"></span><span class="preprocessor">  #define DIGITALOUT_5_IO IO_PA06</span>
<a name="l00054"></a>00054 <span class="preprocessor"></span><span class="preprocessor">  #define DIGITALOUT_6_IO IO_PA05</span>
<a name="l00055"></a>00055 <span class="preprocessor"></span><span class="preprocessor">  #define DIGITALOUT_7_IO IO_PA24</span>
<a name="l00056"></a>00056 <span class="preprocessor"></span><span class="preprocessor">  #define DIGITALOUT_01_ENABLE IO_PB19</span>
<a name="l00057"></a>00057 <span class="preprocessor"></span><span class="preprocessor">  #define DIGITALOUT_23_ENABLE IO_PB20</span>
<a name="l00058"></a>00058 <span class="preprocessor"></span><span class="preprocessor">  #define DIGITALOUT_45_ENABLE IO_PB21</span>
<a name="l00059"></a>00059 <span class="preprocessor"></span><span class="preprocessor">  #define DIGITALOUT_67_ENABLE IO_PB22</span>
<a name="l00060"></a>00060 <span class="preprocessor"></span><span class="preprocessor">#endif</span>
<a name="l00061"></a>00061 <span class="preprocessor"></span><span class="preprocessor">#if ( APPBOARD_VERSION == 95 || APPBOARD_VERSION == 100 )</span>
<a name="l00062"></a>00062 <span class="preprocessor"></span>
<a name="l00063"></a>00063 <span class="preprocessor">  #define DIGITALOUT_0_IO IO_PA24</span>
<a name="l00064"></a>00064 <span class="preprocessor"></span><span class="preprocessor">  #define DIGITALOUT_1_IO IO_PA05</span>
<a name="l00065"></a>00065 <span class="preprocessor"></span><span class="preprocessor">  #define DIGITALOUT_2_IO IO_PA06</span>
<a name="l00066"></a>00066 <span class="preprocessor"></span><span class="preprocessor">  #define DIGITALOUT_3_IO IO_PA02</span>
<a name="l00067"></a>00067 <span class="preprocessor"></span><span class="preprocessor">  #define DIGITALOUT_4_IO IO_PB25</span>
<a name="l00068"></a>00068 <span class="preprocessor"></span><span class="preprocessor">  #define DIGITALOUT_5_IO IO_PA25</span>
<a name="l00069"></a>00069 <span class="preprocessor"></span><span class="preprocessor">  #define DIGITALOUT_6_IO IO_PA26</span>
<a name="l00070"></a>00070 <span class="preprocessor"></span><span class="preprocessor">  #define DIGITALOUT_7_IO IO_PB23</span>
<a name="l00071"></a>00071 <span class="preprocessor"></span><span class="preprocessor">  #define DIGITALOUT_01_ENABLE IO_PB19</span>
<a name="l00072"></a>00072 <span class="preprocessor"></span><span class="preprocessor">  #define DIGITALOUT_23_ENABLE IO_PB20</span>
<a name="l00073"></a>00073 <span class="preprocessor"></span><span class="preprocessor">  #define DIGITALOUT_45_ENABLE IO_PB21</span>
<a name="l00074"></a>00074 <span class="preprocessor"></span><span class="preprocessor">  #define DIGITALOUT_67_ENABLE IO_PB22</span>
<a name="l00075"></a>00075 <span class="preprocessor"></span><span class="preprocessor">#endif</span>
<a name="l00076"></a>00076 <span class="preprocessor"></span>
<a name="l00077"></a>00077 <span class="keyword">static</span> <span class="keywordtype">int</span> DigitalOut_Start( <span class="keywordtype">int</span> index );
<a name="l00078"></a>00078 <span class="keyword">static</span> <span class="keywordtype">int</span> DigitalOut_Stop( <span class="keywordtype">int</span> index );
<a name="l00079"></a>00079 
<a name="l00080"></a>00080 <span class="keywordtype">int</span> DigitalOut_GetIo( <span class="keywordtype">int</span> index );
<a name="l00081"></a>00081 <span class="keywordtype">int</span> DigitalOut_GetEnableIo( <span class="keywordtype">int</span> enableIndex );
<a name="l00082"></a>00082 
<a name="l00083"></a>00083 <span class="keywordtype">int</span> DigitalOut_users[ DIGITALOUT_COUNT ];
<a name="l00084"></a>00084 <span class="keywordtype">int</span> DigitalOut_enableUsers[ DIGITALOUT_COUNT &gt;&gt; 1 ];
<a name="l00085"></a>00085 <span class="comment"></span>
<a name="l00086"></a>00086 <span class="comment">/** \defgroup DigitalOut Digital Outputs</span>
<a name="l00087"></a>00087 <span class="comment">* The Digital Out subsystem sends digital values out the 8 high current outputs - 1 (on) or 0 (off).</span>
<a name="l00088"></a>00088 <span class="comment">  </span>
<a name="l00089"></a>00089 <span class="comment">  If you've previously used any of the other systems on the outputs (steppers, motors, etc.), you'll need</span>
<a name="l00090"></a>00090 <span class="comment">  to set them to \b inactive to unlock the IO lines and use the Digital Outs.</span>
<a name="l00091"></a>00091 <span class="comment">* \ingroup AppBoard</span>
<a name="l00092"></a>00092 <span class="comment">* @{</span>
<a name="l00093"></a>00093 <span class="comment">*/</span>
<a name="l00094"></a>00094 <span class="comment"></span>
<a name="l00095"></a>00095 <span class="comment">/**</span>
<a name="l00096"></a>00096 <span class="comment">  Sets whether the specified Digital Out is active.</span>
<a name="l00097"></a>00097 <span class="comment">  This is automatically called, setting the channel active, the first time DigitalOut_SetValue() is called.\n</span>
<a name="l00098"></a>00098 <span class="comment">  However, the channel must be explicitly set to inactive in order for any other devices to access the I/O lines. </span>
<a name="l00099"></a>00099 <span class="comment">  @param index An integer specifying which Digital Out (0-7).</span>
<a name="l00100"></a>00100 <span class="comment">  @param state An integer specifying the state - on (1) or off (0).</span>
<a name="l00101"></a>00101 <span class="comment">  @return Zero on success.</span>
<a name="l00102"></a>00102 <span class="comment">*/</span>
<a name="l00103"></a><a class="code" href="group___digital_out.html#ga98b65673615683dbdaa1fc7ee4e4f2f">00103</a> <span class="keywordtype">int</span> <a class="code" href="group___digital_out.html#ga98b65673615683dbdaa1fc7ee4e4f2f" title="Sets whether the specified Digital Out is active.">DigitalOut_SetActive</a>( <span class="keywordtype">int</span> index, <span class="keywordtype">int</span> state )
<a name="l00104"></a>00104 {
<a name="l00105"></a>00105   <span class="keywordflow">if</span> ( index &lt; 0 || index &gt;= DIGITALOUT_COUNT )
<a name="l00106"></a>00106     <span class="keywordflow">return</span> <a class="code" href="group___error.html#g097f40c958abccd892d08f31b53c4dde" title="The requested index is not valid.">CONTROLLER_ERROR_ILLEGAL_INDEX</a>;
<a name="l00107"></a>00107 
<a name="l00108"></a>00108   <span class="keywordflow">if</span> ( state )
<a name="l00109"></a>00109     <span class="keywordflow">return</span> DigitalOut_Start( index );
<a name="l00110"></a>00110   <span class="keywordflow">else</span>
<a name="l00111"></a>00111     <span class="keywordflow">return</span> DigitalOut_Stop( index );
<a name="l00112"></a>00112 }
<a name="l00113"></a>00113 <span class="comment"></span>
<a name="l00114"></a>00114 <span class="comment">/**</span>
<a name="l00115"></a>00115 <span class="comment">  Returns the availability of the Digital Out I/O lines.</span>
<a name="l00116"></a>00116 <span class="comment">  @param index An integer specifying which Digital Out (0-7).</span>
<a name="l00117"></a>00117 <span class="comment">  @return State - on (1) or off (0).</span>
<a name="l00118"></a>00118 <span class="comment">*/</span>
<a name="l00119"></a><a class="code" href="group___digital_out.html#g5dd452d33a5e9c45374b9d82206b6d68">00119</a> <span class="keywordtype">int</span> <a class="code" href="group___digital_out.html#g5dd452d33a5e9c45374b9d82206b6d68" title="Returns the availability of the Digital Out I/O lines.">DigitalOut_GetActive</a>( <span class="keywordtype">int</span> index )
<a name="l00120"></a>00120 {
<a name="l00121"></a>00121   <span class="keywordflow">if</span> ( index &lt; 0 || index &gt;= DIGITALOUT_COUNT )
<a name="l00122"></a>00122     <span class="keywordflow">return</span> <span class="keyword">false</span>;
<a name="l00123"></a>00123   <span class="keywordflow">return</span> DigitalOut_users[ index ] &gt; 0;
<a name="l00124"></a>00124 }
<a name="l00125"></a>00125 <span class="comment"></span>
<a name="l00126"></a>00126 <span class="comment">/** </span>
<a name="l00127"></a>00127 <span class="comment">  Turn a Digital Out on or off on the MAKE Application Board.</span>
<a name="l00128"></a>00128 <span class="comment">  @param index An integer specifying which Digital Out (0-7).</span>
<a name="l00129"></a>00129 <span class="comment">  @param state An integer specifying the state - on (1) or off (0).</span>
<a name="l00130"></a>00130 <span class="comment">  @return Zero on success.</span>
<a name="l00131"></a>00131 <span class="comment">*/</span>
<a name="l00132"></a><a class="code" href="group___digital_out.html#gcd33bd552fe48b82df9f0be1c4985ccd">00132</a> <span class="keywordtype">int</span> <a class="code" href="group___digital_out.html#gcd33bd552fe48b82df9f0be1c4985ccd" title="Turn a Digital Out on or off on the MAKE Application Board.">DigitalOut_SetValue</a>( <span class="keywordtype">int</span> index, <span class="keywordtype">int</span> state )
<a name="l00133"></a>00133 {
<a name="l00134"></a>00134   <span class="keywordflow">if</span> ( index &lt; 0 || index &gt;= DIGITALOUT_COUNT )
<a name="l00135"></a>00135     <span class="keywordflow">return</span> <a class="code" href="group___error.html#g097f40c958abccd892d08f31b53c4dde" title="The requested index is not valid.">CONTROLLER_ERROR_ILLEGAL_INDEX</a>;
<a name="l00136"></a>00136 
<a name="l00137"></a>00137   <span class="keywordflow">if</span> ( DigitalOut_users[ index ] &lt; 1 )
<a name="l00138"></a>00138   {
<a name="l00139"></a>00139     <span class="keywordtype">int</span> status = DigitalOut_Start( index );
<a name="l00140"></a>00140     <span class="keywordflow">if</span> ( status != <a class="code" href="group___error.html#gaa42bc036fbba18487ae9a15cd1f2f94" title="All&amp;#39;s well here.">CONTROLLER_OK</a> )
<a name="l00141"></a>00141       <span class="keywordflow">return</span> status;
<a name="l00142"></a>00142   }
<a name="l00143"></a>00143 
<a name="l00144"></a>00144   <span class="keywordtype">int</span> io = DigitalOut_GetIo( index );
<a name="l00145"></a>00145   <span class="keywordflow">if</span> ( state )
<a name="l00146"></a>00146     Io_SetTrue( io );
<a name="l00147"></a>00147   <span class="keywordflow">else</span> 
<a name="l00148"></a>00148     Io_SetFalse( io );
<a name="l00149"></a>00149 
<a name="l00150"></a>00150   <span class="keywordflow">return</span> <a class="code" href="group___error.html#gaa42bc036fbba18487ae9a15cd1f2f94" title="All&amp;#39;s well here.">CONTROLLER_OK</a>;
<a name="l00151"></a>00151 }
<a name="l00152"></a>00152 <span class="comment"></span>
<a name="l00153"></a>00153 <span class="comment">/** </span>
<a name="l00154"></a>00154 <span class="comment">  Read the value of a Digital Out on the Make Application Board.</span>
<a name="l00155"></a>00155 <span class="comment">  @param index An integer specifying which Digital Out (0-7).</span>
<a name="l00156"></a>00156 <span class="comment">  @return The value - on (1) or off (0).</span>
<a name="l00157"></a>00157 <span class="comment">*/</span>
<a name="l00158"></a><a class="code" href="group___digital_out.html#ge7a85f9705a725cf3920e52737367886">00158</a> <span class="keywordtype">int</span> <a class="code" href="group___digital_out.html#ge7a85f9705a725cf3920e52737367886" title="Read the value of a Digital Out on the Make Application Board.">DigitalOut_GetValue</a>( <span class="keywordtype">int</span> index )
<a name="l00159"></a>00159 {
<a name="l00160"></a>00160   <span class="keywordflow">if</span> ( index &lt; 0 || index &gt;= DIGITALOUT_COUNT )
<a name="l00161"></a>00161     <span class="keywordflow">return</span> <a class="code" href="group___error.html#g097f40c958abccd892d08f31b53c4dde" title="The requested index is not valid.">CONTROLLER_ERROR_ILLEGAL_INDEX</a>;
<a name="l00162"></a>00162 
<a name="l00163"></a>00163   <span class="keywordflow">if</span> ( DigitalOut_users[ index ] &lt; 1 )
<a name="l00164"></a>00164   {
<a name="l00165"></a>00165     <span class="keywordtype">int</span> status = DigitalOut_Start( index );
<a name="l00166"></a>00166     <span class="keywordflow">if</span> ( status != <a class="code" href="group___error.html#gaa42bc036fbba18487ae9a15cd1f2f94" title="All&amp;#39;s well here.">CONTROLLER_OK</a> )
<a name="l00167"></a>00167       <span class="keywordflow">return</span> status;
<a name="l00168"></a>00168   }
<a name="l00169"></a>00169 
<a name="l00170"></a>00170   <span class="keywordtype">int</span> io = DigitalOut_GetIo( index );
<a name="l00171"></a>00171 
<a name="l00172"></a>00172   <span class="keywordflow">return</span> <a class="code" href="group___io.html#gfdcf7332d0ae5b38d2a776fb6cc5ba7b" title="Read whether an IO line, presumably set as an output, is on or off.">Io_GetValue</a>( io );
<a name="l00173"></a>00173 
<a name="l00174"></a>00174   <span class="keywordflow">return</span> <a class="code" href="group___error.html#gaa42bc036fbba18487ae9a15cd1f2f94" title="All&amp;#39;s well here.">CONTROLLER_OK</a>;
<a name="l00175"></a>00175 }
<a name="l00176"></a>00176 
<a name="l00177"></a>00177 <span class="comment"></span>
<a name="l00178"></a>00178 <span class="comment">/** @}</span>
<a name="l00179"></a>00179 <span class="comment">*/</span>
<a name="l00180"></a>00180 
<a name="l00181"></a>00181 <span class="keywordtype">int</span> DigitalOut_Start( <span class="keywordtype">int</span> index )
<a name="l00182"></a>00182 {
<a name="l00183"></a>00183   <span class="keywordtype">int</span> status;
<a name="l00184"></a>00184   <span class="keywordtype">int</span> enableIndex = index &gt;&gt; 1;
<a name="l00185"></a>00185 
<a name="l00186"></a>00186   <span class="keywordflow">if</span> ( index &lt; 0 || index &gt;= DIGITALOUT_COUNT )
<a name="l00187"></a>00187     <span class="keywordflow">return</span> <a class="code" href="group___error.html#g097f40c958abccd892d08f31b53c4dde" title="The requested index is not valid.">CONTROLLER_ERROR_ILLEGAL_INDEX</a>;
<a name="l00188"></a>00188 
<a name="l00189"></a>00189   <span class="keywordflow">if</span> ( DigitalOut_users[ index ]++ == 0 )
<a name="l00190"></a>00190   {
<a name="l00191"></a>00191     <span class="keywordtype">int</span> enableIo = DigitalOut_GetEnableIo( enableIndex );
<a name="l00192"></a>00192     <span class="keywordflow">if</span> ( DigitalOut_enableUsers[ enableIndex ]++ == 0 )
<a name="l00193"></a>00193     {
<a name="l00194"></a>00194       status = Io_Start( enableIo, <span class="keyword">true</span> );
<a name="l00195"></a>00195       <span class="keywordflow">if</span> ( status != <a class="code" href="group___error.html#gaa42bc036fbba18487ae9a15cd1f2f94" title="All&amp;#39;s well here.">CONTROLLER_OK</a> )
<a name="l00196"></a>00196       {
<a name="l00197"></a>00197         DigitalOut_enableUsers[ enableIndex ]--;
<a name="l00198"></a>00198         DigitalOut_users[ index ]--;
<a name="l00199"></a>00199         <span class="keywordflow">return</span> <a class="code" href="group___error.html#g5317aab1608afa7507da0214aec0dbab" title="Can&amp;#39;t get a lock on a resource.">CONTROLLER_ERROR_CANT_LOCK</a>;
<a name="l00200"></a>00200       }
<a name="l00201"></a>00201       Io_SetTrue( enableIo );
<a name="l00202"></a>00202     }
<a name="l00203"></a>00203 
<a name="l00204"></a>00204     <span class="keywordtype">int</span> io = DigitalOut_GetIo( index );
<a name="l00205"></a>00205 
<a name="l00206"></a>00206     status = Io_Start( io, <span class="keyword">true</span> );
<a name="l00207"></a>00207     <span class="keywordflow">if</span> ( status != <a class="code" href="group___error.html#gaa42bc036fbba18487ae9a15cd1f2f94" title="All&amp;#39;s well here.">CONTROLLER_OK</a> )
<a name="l00208"></a>00208     {
<a name="l00209"></a>00209       DigitalOut_users[ index ]--;
<a name="l00210"></a>00210       <span class="keywordflow">return</span> <a class="code" href="group___error.html#g5317aab1608afa7507da0214aec0dbab" title="Can&amp;#39;t get a lock on a resource.">CONTROLLER_ERROR_CANT_LOCK</a>;
<a name="l00211"></a>00211     }
<a name="l00212"></a>00212 
<a name="l00213"></a>00213     <span class="comment">// Got it, now set the io up right</span>
<a name="l00214"></a>00214     Io_PioEnable( io );
<a name="l00215"></a>00215     Io_SetFalse( io );
<a name="l00216"></a>00216     Io_SetOutput( io );
<a name="l00217"></a>00217   }
<a name="l00218"></a>00218 
<a name="l00219"></a>00219   <span class="keywordflow">return</span> <a class="code" href="group___error.html#gaa42bc036fbba18487ae9a15cd1f2f94" title="All&amp;#39;s well here.">CONTROLLER_OK</a>;
<a name="l00220"></a>00220 }
<a name="l00221"></a>00221 
<a name="l00222"></a>00222 <span class="keywordtype">int</span> DigitalOut_Stop( <span class="keywordtype">int</span> index )
<a name="l00223"></a>00223 {
<a name="l00224"></a>00224   <span class="keywordflow">if</span> ( index &lt; 0 || index &gt;= DIGITALOUT_COUNT )
<a name="l00225"></a>00225     <span class="keywordflow">return</span> <a class="code" href="group___error.html#g097f40c958abccd892d08f31b53c4dde" title="The requested index is not valid.">CONTROLLER_ERROR_ILLEGAL_INDEX</a>;
<a name="l00226"></a>00226 
<a name="l00227"></a>00227   <span class="keywordflow">if</span> ( DigitalOut_users[ index ] &lt; 1 )
<a name="l00228"></a>00228     <span class="keywordflow">return</span> <a class="code" href="group___error.html#gbe5b0c7c2a59668cdeb433375f091c2a" title="This resource has already been stopped too many times.">CONTROLLER_ERROR_TOO_MANY_STOPS</a>;
<a name="l00229"></a>00229 
<a name="l00230"></a>00230   <span class="keywordflow">if</span> ( --DigitalOut_users[ index ] == 0 )
<a name="l00231"></a>00231   {
<a name="l00232"></a>00232     <span class="keywordtype">int</span> io = DigitalOut_GetIo( index );
<a name="l00233"></a>00233     Io_Stop( io );
<a name="l00234"></a>00234 
<a name="l00235"></a>00235     <span class="keywordtype">int</span> enableIndex = index &gt;&gt; 1;
<a name="l00236"></a>00236     <span class="keywordflow">if</span> ( --DigitalOut_enableUsers[ enableIndex ] == 0 )
<a name="l00237"></a>00237     {
<a name="l00238"></a>00238       <span class="keywordtype">int</span> enableIo = DigitalOut_GetEnableIo( enableIndex );
<a name="l00239"></a>00239       Io_Stop( enableIo );
<a name="l00240"></a>00240     }
<a name="l00241"></a>00241 
<a name="l00242"></a>00242   }
<a name="l00243"></a>00243   <span class="keywordflow">return</span> <a class="code" href="group___error.html#gaa42bc036fbba18487ae9a15cd1f2f94" title="All&amp;#39;s well here.">CONTROLLER_OK</a>;
<a name="l00244"></a>00244 }
<a name="l00245"></a>00245 
<a name="l00246"></a>00246 <span class="keywordtype">int</span> DigitalOut_GetIo( <span class="keywordtype">int</span> index )
<a name="l00247"></a>00247 {
<a name="l00248"></a>00248   <span class="keywordtype">int</span> io = -1;
<a name="l00249"></a>00249   <span class="keywordflow">switch</span> ( index )
<a name="l00250"></a>00250   {
<a name="l00251"></a>00251     <span class="keywordflow">case</span> 0:
<a name="l00252"></a>00252       io = DIGITALOUT_0_IO;
<a name="l00253"></a>00253       <span class="keywordflow">break</span>;
<a name="l00254"></a>00254     <span class="keywordflow">case</span> 1:
<a name="l00255"></a>00255       io = DIGITALOUT_1_IO;
<a name="l00256"></a>00256       <span class="keywordflow">break</span>;
<a name="l00257"></a>00257     <span class="keywordflow">case</span> 2:
<a name="l00258"></a>00258       io = DIGITALOUT_2_IO;
<a name="l00259"></a>00259       <span class="keywordflow">break</span>;
<a name="l00260"></a>00260     <span class="keywordflow">case</span> 3:
<a name="l00261"></a>00261       io = DIGITALOUT_3_IO;
<a name="l00262"></a>00262       <span class="keywordflow">break</span>;
<a name="l00263"></a>00263     <span class="keywordflow">case</span> 4:
<a name="l00264"></a>00264       io = DIGITALOUT_4_IO;
<a name="l00265"></a>00265       <span class="keywordflow">break</span>;
<a name="l00266"></a>00266     <span class="keywordflow">case</span> 5:
<a name="l00267"></a>00267       io = DIGITALOUT_5_IO;
<a name="l00268"></a>00268       <span class="keywordflow">break</span>;
<a name="l00269"></a>00269     <span class="keywordflow">case</span> 6:
<a name="l00270"></a>00270       io = DIGITALOUT_6_IO;
<a name="l00271"></a>00271       <span class="keywordflow">break</span>;
<a name="l00272"></a>00272     <span class="keywordflow">case</span> 7:
<a name="l00273"></a>00273       io = DIGITALOUT_7_IO;
<a name="l00274"></a>00274       <span class="keywordflow">break</span>;
<a name="l00275"></a>00275   }
<a name="l00276"></a>00276   <span class="keywordflow">return</span> io;
<a name="l00277"></a>00277 }
<a name="l00278"></a>00278 
<a name="l00279"></a>00279 <span class="keywordtype">int</span> DigitalOut_GetEnableIo( <span class="keywordtype">int</span> enableIndex )
<a name="l00280"></a>00280 {
<a name="l00281"></a>00281   <span class="keywordtype">int</span> enableIo = -1;
<a name="l00282"></a>00282   <span class="keywordflow">switch</span> ( enableIndex )
<a name="l00283"></a>00283   {
<a name="l00284"></a>00284     <span class="keywordflow">case</span> 0:
<a name="l00285"></a>00285       enableIo = DIGITALOUT_01_ENABLE;
<a name="l00286"></a>00286       <span class="keywordflow">break</span>;
<a name="l00287"></a>00287     <span class="keywordflow">case</span> 1:
<a name="l00288"></a>00288       enableIo = DIGITALOUT_23_ENABLE;
<a name="l00289"></a>00289       <span class="keywordflow">break</span>;
<a name="l00290"></a>00290     <span class="keywordflow">case</span> 2:
<a name="l00291"></a>00291       enableIo = DIGITALOUT_45_ENABLE;
<a name="l00292"></a>00292       <span class="keywordflow">break</span>;
<a name="l00293"></a>00293     <span class="keywordflow">case</span> 3:
<a name="l00294"></a>00294       enableIo = DIGITALOUT_67_ENABLE;
<a name="l00295"></a>00295       <span class="keywordflow">break</span>;
<a name="l00296"></a>00296   }
<a name="l00297"></a>00297   <span class="keywordflow">return</span> enableIo;
<a name="l00298"></a>00298 }
<a name="l00299"></a>00299 
<a name="l00300"></a>00300 <span class="preprocessor">#ifdef OSC</span>
<a name="l00301"></a>00301 <span class="preprocessor"></span><span class="comment"></span>
<a name="l00302"></a>00302 <span class="comment">/** \defgroup DigitalOutOSC Digital Out - OSC</span>
<a name="l00303"></a>00303 <span class="comment">  Control the Application Board's Digital Outs via OSC.</span>
<a name="l00304"></a>00304 <span class="comment">  \ingroup OSC</span>
<a name="l00305"></a>00305 <span class="comment">  </span>
<a name="l00306"></a>00306 <span class="comment">  \section devices Devices</span>
<a name="l00307"></a>00307 <span class="comment">  There are 8 Digital Outs on the Make Application Board, numbered &lt;b&gt;0 - 7&lt;/b&gt;.</span>
<a name="l00308"></a>00308 <span class="comment">  </span>
<a name="l00309"></a>00309 <span class="comment">  \section properties Properties</span>
<a name="l00310"></a>00310 <span class="comment">  The Digital Outs have two properties:</span>
<a name="l00311"></a>00311 <span class="comment">  - value</span>
<a name="l00312"></a>00312 <span class="comment">  - active</span>
<a name="l00313"></a>00313 <span class="comment"></span>
<a name="l00314"></a>00314 <span class="comment">  \par Value</span>
<a name="l00315"></a>00315 <span class="comment">  The \b value property corresponds to the on/off value of a given Digital Out.</span>
<a name="l00316"></a>00316 <span class="comment">  For example, to turn on the fifth Digital Out, send a message like</span>
<a name="l00317"></a>00317 <span class="comment">  \verbatim /digitalout/6/value 1\endverbatim</span>
<a name="l00318"></a>00318 <span class="comment">  Turn it off by sending the message \verbatim /digitalout/6/value 0\endverbatim</span>
<a name="l00319"></a>00319 <span class="comment">  </span>
<a name="l00320"></a>00320 <span class="comment">  \par Active</span>
<a name="l00321"></a>00321 <span class="comment">  The \b active property corresponds to the active state of a Digital Out.</span>
<a name="l00322"></a>00322 <span class="comment">  If a Digital Out is set to be active, no other tasks will be able to</span>
<a name="l00323"></a>00323 <span class="comment">  write to that Digital Out.  If you're not seeing appropriate</span>
<a name="l00324"></a>00324 <span class="comment">  responses to your messages to the Digital Out, check the whether a Digital Out is </span>
<a name="l00325"></a>00325 <span class="comment">  locked by sending a message like</span>
<a name="l00326"></a>00326 <span class="comment">  \verbatim /digitalout/0/active \endverbatim</span>
<a name="l00327"></a>00327 <span class="comment">  \par</span>
<a name="l00328"></a>00328 <span class="comment">  You can set the active flag by sending</span>
<a name="l00329"></a>00329 <span class="comment">  \verbatim /digitalout/0/active 1 \endverbatim</span>
<a name="l00330"></a>00330 <span class="comment">*/</span>
<a name="l00331"></a>00331 
<a name="l00332"></a>00332 <span class="preprocessor">#include "osc.h"</span>
<a name="l00333"></a>00333 <span class="preprocessor">#include "string.h"</span>
<a name="l00334"></a>00334 <span class="preprocessor">#include "stdio.h"</span>
<a name="l00335"></a>00335 
<a name="l00336"></a>00336 <span class="comment">// Need a list of property names</span>
<a name="l00337"></a>00337 <span class="comment">// MUST end in zero</span>
<a name="l00338"></a>00338 <span class="keyword">static</span> <span class="keywordtype">char</span>* DigitalOutOsc_Name = <span class="stringliteral">"digitalout"</span>;
<a name="l00339"></a>00339 <span class="keyword">static</span> <span class="keywordtype">char</span>* DigitalOutOsc_PropertyNames[] = { <span class="stringliteral">"active"</span>, <span class="stringliteral">"value"</span>, 0 }; <span class="comment">// must have a trailing 0</span>
<a name="l00340"></a>00340 
<a name="l00341"></a>00341 <span class="keywordtype">int</span> DigitalOutOsc_PropertySet( <span class="keywordtype">int</span> index, <span class="keywordtype">int</span> property, <span class="keywordtype">int</span> value );
<a name="l00342"></a>00342 <span class="keywordtype">int</span> DigitalOutOsc_PropertyGet( <span class="keywordtype">int</span> index, <span class="keywordtype">int</span> property );
<a name="l00343"></a>00343 
<a name="l00344"></a>00344 <span class="comment">// Returns the name of the subsystem</span>
<a name="l00345"></a>00345 <span class="keyword">const</span> <span class="keywordtype">char</span>* DigitalOutOsc_GetName( )
<a name="l00346"></a>00346 {
<a name="l00347"></a>00347   <span class="keywordflow">return</span> DigitalOutOsc_Name;
<a name="l00348"></a>00348 }
<a name="l00349"></a>00349 
<a name="l00350"></a>00350 <span class="comment">// Now getting a message.  This is actually a part message, with the first</span>
<a name="l00351"></a>00351 <span class="comment">// part (the subsystem) already parsed off.</span>
<a name="l00352"></a>00352 <span class="keywordtype">int</span> DigitalOutOsc_ReceiveMessage( <span class="keywordtype">int</span> channel, <span class="keywordtype">char</span>* message, <span class="keywordtype">int</span> length )
<a name="l00353"></a>00353 {
<a name="l00354"></a>00354   <span class="keywordtype">int</span> status = <a class="code" href="group___o_s_c_a_p_i.html#gdaa5a3868eeedcf785c3d52f6b36ef34" title="Receive integers for a subsystem with multiple indexes.">Osc_IndexIntReceiverHelper</a>( channel, message, length, 
<a name="l00355"></a>00355                                            DIGITALOUT_COUNT, DigitalOutOsc_Name,
<a name="l00356"></a>00356                                            DigitalOutOsc_PropertySet, DigitalOutOsc_PropertyGet, 
<a name="l00357"></a>00357                                            DigitalOutOsc_PropertyNames );
<a name="l00358"></a>00358                                      
<a name="l00359"></a>00359   <span class="keywordflow">if</span> ( status != <a class="code" href="group___error.html#gaa42bc036fbba18487ae9a15cd1f2f94" title="All&amp;#39;s well here.">CONTROLLER_OK</a> )
<a name="l00360"></a>00360     <span class="keywordflow">return</span> Osc_SendError( channel, DigitalOutOsc_Name, status );
<a name="l00361"></a>00361   <span class="keywordflow">return</span> <a class="code" href="group___error.html#gaa42bc036fbba18487ae9a15cd1f2f94" title="All&amp;#39;s well here.">CONTROLLER_OK</a>;
<a name="l00362"></a>00362 }
<a name="l00363"></a>00363 
<a name="l00364"></a>00364 <span class="comment">// Set the index LED, property with the value</span>
<a name="l00365"></a>00365 <span class="keywordtype">int</span> DigitalOutOsc_PropertySet( <span class="keywordtype">int</span> index, <span class="keywordtype">int</span> property, <span class="keywordtype">int</span> value )
<a name="l00366"></a>00366 {
<a name="l00367"></a>00367   <span class="keywordflow">switch</span> ( property )
<a name="l00368"></a>00368   {
<a name="l00369"></a>00369     <span class="keywordflow">case</span> 0: 
<a name="l00370"></a>00370       <a class="code" href="group___digital_out.html#ga98b65673615683dbdaa1fc7ee4e4f2f" title="Sets whether the specified Digital Out is active.">DigitalOut_SetActive</a>( index, value );
<a name="l00371"></a>00371       <span class="keywordflow">break</span>;      
<a name="l00372"></a>00372     <span class="keywordflow">case</span> 1: 
<a name="l00373"></a>00373       <a class="code" href="group___digital_out.html#gcd33bd552fe48b82df9f0be1c4985ccd" title="Turn a Digital Out on or off on the MAKE Application Board.">DigitalOut_SetValue</a>( index, value );
<a name="l00374"></a>00374       <span class="keywordflow">break</span>;
<a name="l00375"></a>00375   }
<a name="l00376"></a>00376   <span class="keywordflow">return</span> <a class="code" href="group___error.html#gaa42bc036fbba18487ae9a15cd1f2f94" title="All&amp;#39;s well here.">CONTROLLER_OK</a>;
<a name="l00377"></a>00377 }
<a name="l00378"></a>00378 
<a name="l00379"></a>00379 <span class="comment">// Get the index LED, property</span>
<a name="l00380"></a>00380 <span class="keywordtype">int</span> DigitalOutOsc_PropertyGet( <span class="keywordtype">int</span> index, <span class="keywordtype">int</span> property )
<a name="l00381"></a>00381 {
<a name="l00382"></a>00382   <span class="keywordtype">int</span> value = 0;
<a name="l00383"></a>00383   <span class="keywordflow">switch</span> ( property )
<a name="l00384"></a>00384   {
<a name="l00385"></a>00385     <span class="keywordflow">case</span> 0:
<a name="l00386"></a>00386       value = <a class="code" href="group___digital_out.html#g5dd452d33a5e9c45374b9d82206b6d68" title="Returns the availability of the Digital Out I/O lines.">DigitalOut_GetActive</a>( index );
<a name="l00387"></a>00387       <span class="keywordflow">break</span>;
<a name="l00388"></a>00388     <span class="keywordflow">case</span> 1:
<a name="l00389"></a>00389       value = <a class="code" href="group___digital_out.html#ge7a85f9705a725cf3920e52737367886" title="Read the value of a Digital Out on the Make Application Board.">DigitalOut_GetValue</a>( index );
<a name="l00390"></a>00390       <span class="keywordflow">break</span>;
<a name="l00391"></a>00391   }
<a name="l00392"></a>00392   
<a name="l00393"></a>00393   <span class="keywordflow">return</span> value;
<a name="l00394"></a>00394 }
<a name="l00395"></a>00395 
<a name="l00396"></a>00396 <span class="preprocessor">#endif</span>
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  <p class="footer">The Make Controller Kit is an open source project maintained by <a href="http://www.makingthings.com">MakingThings</a>.<br />
    MakingThings code is released under the <a href="http://www.apache.org/licenses/LICENSE-2.0.html" target="_blank">Apache 2.0 license</a>.<br />
    Bug tracker, development wiki and status can be found at <a href="http://dev.makingthings.com">http://dev.makingthings.com</a>.<br />
		This document was last updated on 5 Dec 2007.
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